OpenRaiser/Intern-Atlas huggingface dataset:
Beamforming Optimization for IRS-Aided Communications with Transceiver Hardware Impairments
Venue: arXiv cs.IT 2020
Year: 2020

In this paper, we focus on intelligent reflecting surface (IRS) assisted multi-antenna communications with transceiver hardware impairments encountered in practice. In particular, we aim to maximize the received signal-to-noise ratio (SNR) taking into account the impact of hardware impairments, where the source transmit beamforming and the IRS reflect beamforming are jointly designed under the proposed optimization framework. To circumvent the non-convexity of the formulated design problem, we first derive a closed-form optimal solution to the source transmit beamforming. Then, for the optimization of IRS reflect beamforming, we obtain an upper bound to the optimal objective value via solving a single convex problem. A low-complexity minorization-maximization (MM) algorithm was developed to approach the upper bound. Simulation results demonstrate that the proposed beamforming design is more robust to the hardware impairments than that of the conventional SNR maximized scheme. Moreover, compared to the scenario without deploying an IRS, the performance gain brought by incorporating the hardware impairments is more evident for the IRS-aided communications.
UAV LiDAR Point Cloud Segmentation of A Stack Interchange with Deep Neural Networks
Venue: arXiv cs.CV 2020
Year: 2020

Stack interchanges are essential components of transportation systems. Mobile laser scanning (MLS) systems have been widely used in road infrastructure mapping, but accurate mapping of complicated multi-layer stack interchanges are still challenging. This study examined the point clouds collected by a new Unmanned Aerial Vehicle (UAV) Light Detection and Ranging (LiDAR) system to perform the semantic segmentation task of a stack interchange. An end-to-end supervised 3D deep learning framework was proposed to classify the point clouds. The proposed method has proven to capture 3D features in complicated interchange scenarios with stacked convolution and the result achieved over 93% classification accuracy. In addition, the new low-cost semi-solid-state LiDAR sensor Livox Mid-40 featuring a incommensurable rosette scanning pattern has demonstrated its potential in high-definition urban mapping.
Beyond English-Centric Multilingual Machine Translation
Venue: arXiv cs.CL 2020
Year: 2020

Existing work in translation demonstrated the potential of massively multilingual machine translation by training a single model able to translate between any pair of languages. However, much of this work is English-Centric by training only on data which was translated from or to English. While this is supported by large sources of training data, it does not reflect translation needs worldwide. In this work, we create a true Many-to-Many multilingual translation model that can translate directly between any pair of 100 languages. We build and open source a training dataset that covers thousands of language directions with supervised data, created through large-scale mining. Then, we explore how to effectively increase model capacity through a combination of dense scaling and language-specific sparse parameters to create high quality models. Our focus on non-English-Centric models brings gains of more than 10 BLEU when directly translating between non-English directions while performing competitively to the best single systems of WMT. We open-source our scripts so that others may reproduce the data, evaluation, and final M2M-100 model.
Electromagnetic Sensor and Actuator Attacks on Power Converters for Electric Vehicles
Venue: arXiv cs.CR 2020
Year: 2020

Alleviating range anxiety for electric vehicles (i.e., whether such vehicles can be relied upon to travel long distances in a timely manner) is critical for sustainable transportation. Extremely fast charging (XFC), whereby electric vehicles (EV) can be quickly recharged in the time frame it takes to refuel an internal combustion engine, has been proposed to alleviate this concern. A critical component of these chargers is the efficient and proper operation of power converters that convert AC to DC power and otherwise regulate power delivery to vehicles. These converters rely on the integrity of sensor and actuation signals. In this work the operation of state-of-the art XFC converters is assessed in adversarial conditions, specifically against Intentional Electromagnetic Interference Attacks (IEMI). The targeted system is analyzed with the goal of determining possible weak points for IEMI, viz. voltage and current sensor outputs and gate control signals. This work demonstrates that, with relatively low power levels, an adversary is able to manipulate the voltage and current sensor outputs necessary to ensure the proper operation of the converters. Furthermore, in the first attack of its kind, it is shown that the gate signal that controls the converter switches can be manipulated, to catastrophic effect; i.e., it is possible for an attacker to control the switching state of individual transistors to cause irreparable damage to the converter and associated systems. Finally, a discussion of countermeasures for hardware designers to mitigate IEMI-based attacks is provided.
Literature Review of Computer Tools for the Visually Impaired: a focus on Search Engines
Venue: arXiv cs.HC 2020
Year: 2020

A sudden reliance on the internet has resulted in the global standardization of specific software and interfaces tailored for the average user. Whether it be web apps or dedicated software, the methods of interaction are seemingly similar. But when the computer tool is presented with unique users, specifically with a disability, the quality of interaction degrades, sometimes to a point of complete uselessness. This roots from one's focus on the average user rather than the development of a platform for all (a golden standard). This paper reviews published works and products that deal with providing accessibility to visually impaired online users. Due to the variety of tools that are available to computer users, the paper focuses on search engines as a primary tool for browsing the web. By analyzing the attributes discussed below, the reader is equipped with a set of references for existing applications, along with practical insight and recommendations for accessible design. Finally, the necessary considerations for future developments and summaries of important focal points are highlighted.
Joint Blind Room Acoustic Characterization From Speech And Music Signals Using Convolutional Recurrent Neural Networks
Venue: arXiv cs.SD 2020
Year: 2020

Acoustic environment characterization opens doors for sound reproduction innovations, smart EQing, speech enhancement, hearing aids, and forensics. Reverberation time, clarity, and direct-to-reverberant ratio are acoustic parameters that have been defined to describe reverberant environments. They are closely related to speech intelligibility and sound quality. As explained in the ISO3382 standard, they can be derived from a room measurement called the Room Impulse Response (RIR). However, measuring RIRs requires specific equipment and intrusive sound to be played. The recent audio combined with machine learning suggests that one could estimate those parameters blindly using speech or music signals. We follow these advances and propose a robust end-to-end method to achieve blind joint acoustic parameter estimation using speech and/or music signals. Our results indicate that convolutional recurrent neural networks perform best for this task, and including music in training also helps improve inference from speech.
On Compressed Sensing Matrices Breaking the Square-Root Bottleneck
Venue: arXiv cs.IT 2020
Year: 2020

Compressed sensing is a celebrated framework in signal processing and has many practical applications. One of challenging problems in compressed sensing is to construct deterministic matrices having restricted isometry property (RIP). So far, there are only a few publications providing deterministic RIP matrices beating the square-root bottleneck on the sparsity level. In this paper, we investigate RIP of certain matrices defined by higher power residues modulo primes. Moreover, we prove that the widely-believed generalized Paley graph conjecture implies that these matrices have RIP breaking the square-root bottleneck.
AttendAffectNet: Self-Attention based Networks for Predicting Affective Responses from Movies
Venue: arXiv cs.SD 2020
Year: 2020

In this work, we propose different variants of the self-attention based network for emotion prediction from movies, which we call AttendAffectNet. We take both audio and video into account and incorporate the relation among multiple modalities by applying self-attention mechanism in a novel manner into the extracted features for emotion prediction. We compare it to the typically temporal integration of the self-attention based model, which in our case, allows to capture the relation of temporal representations of the movie while considering the sequential dependencies of emotion responses. We demonstrate the effectiveness of our proposed architectures on the extended COGNIMUSE dataset [1], [2] and the MediaEval 2016 Emotional Impact of Movies Task [3], which consist of movies with emotion annotations. Our results show that applying the self-attention mechanism on the different audio-visual features, rather than in the time domain, is more effective for emotion prediction. Our approach is also proven to outperform many state-ofthe-art models for emotion prediction. The code to reproduce our results with the models' implementation is available at: https://github.com/ivyha010/AttendAffectNet.
Convex Polytope Trees
Venue: arXiv cs.LG 2020
Year: 2020

A decision tree is commonly restricted to use a single hyperplane to split the covariate space at each of its internal nodes. It often requires a large number of nodes to achieve high accuracy, hurting its interpretability. In this paper, we propose convex polytope trees (CPT) to expand the family of decision trees by an interpretable generalization of their decision boundary. The splitting function at each node of CPT is based on the logical disjunction of a community of differently weighted probabilistic linear decision-makers, which also geometrically corresponds to a convex polytope in the covariate space. We use a nonparametric Bayesian prior at each node to infer the community's size, encouraging simpler decision boundaries by shrinking the number of polytope facets. We develop a greedy method to efficiently construct CPT and scalable end-to-end training algorithms for the tree parameters when the tree structure is given. We empirically demonstrate the efficiency of CPT over existing state-of-the-art decision trees in several real-world classification and regression tasks from diverse domains.
Performance Prediction for Convolutional Neural Networks in Edge Devices
Venue: arXiv cs.CV 2020
Year: 2020

Running Convolutional Neural Network (CNN) based applications on edge devices near the source of data can meet the latency and privacy challenges. However due to their reduced computing resources and their energy constraints, these edge devices can hardly satisfy CNN needs in processing and data storage. For these platforms, choosing the CNN with the best trade-off between accuracy and execution time while respecting Hardware constraints is crucial. In this paper, we present and compare five (5) of the widely used Machine Learning based methods for execution time prediction of CNNs on two (2) edge GPU platforms. For these 5 methods, we also explore the time needed for their training and tuning their corresponding hyperparameters. Finally, we compare times to run the prediction models on different platforms. The utilization of these methods will highly facilitate design space exploration by providing quickly the best CNN on a target edge GPU. Experimental results show that eXtreme Gradient Boosting (XGBoost) provides a less than 14.73% average prediction error even for unexplored and unseen CNN models' architectures. Random Forest (RF) depicts comparable accuracy but needs more effort and time to be trained. The other 3 approaches (OLS, MLP and SVR) are less accurate for CNN performances estimation.
NADI 2020: The First Nuanced Arabic Dialect Identification Shared Task
Venue: arXiv cs.CL 2020
Year: 2020

We present the results and findings of the First Nuanced Arabic Dialect Identification Shared Task (NADI). This Shared Task includes two subtasks: country-level dialect identification (Subtask 1) and province-level sub-dialect identification (Subtask 2). The data for the shared task covers a total of 100 provinces from 21 Arab countries and are collected from the Twitter domain. As such, NADI is the first shared task to target naturally-occurring fine-grained dialectal text at the sub-country level. A total of 61 teams from 25 countries registered to participate in the tasks, thus reflecting the interest of the community in this area. We received 47 submissions for Subtask 1 from 18 teams and 9 submissions for Subtask 2 from 9 teams.
Voronoi Convolutional Neural Networks
Venue: arXiv cs.CV 2020
Year: 2020

In this technical report, we investigate extending convolutional neural networks to the setting where functions are not sampled in a grid pattern. We show that by treating the samples as the average of a function within a cell, we can find a natural equivalent of most layers used in CNN. We also present an algorithm for running inference for these models exactly using standard convex geometry algorithms.
LSTM-LM with Long-Term History for First-Pass Decoding in Conversational Speech Recognition
Venue: arXiv cs.CL 2020
Year: 2020

LSTM language models (LSTM-LMs) have been proven to be powerful and yielded significant performance improvements over count based n-gram LMs in modern speech recognition systems. Due to its infinite history states and computational load, most previous studies focus on applying LSTM-LMs in the second-pass for rescoring purpose. Recent work shows that it is feasible and computationally affordable to adopt the LSTM-LMs in the first-pass decoding within a dynamic (or tree based) decoder framework. In this work, the LSTM-LM is composed with a WFST decoder on-the-fly for the first-pass decoding. Furthermore, motivated by the long-term history nature of LSTM-LMs, the use of context beyond the current utterance is explored for the first-pass decoding in conversational speech recognition. The context information is captured by the hidden states of LSTM-LMs across utterance and can be used to guide the first-pass search effectively. The experimental results in our internal meeting transcription system show that significant performance improvements can be obtained by incorporating the contextual information with LSTM-LMs in the first-pass decoding, compared to applying the contextual information in the second-pass rescoring.
Pool-based sequential active learning with multi kernels
Venue: arXiv cs.LG 2020
Year: 2020

We study a pool-based sequential active learning (AL), in which one sample is queried at each time from a large pool of unlabeled data according to a selection criterion. For this framework, we propose two selection criteria, named expected-kernel-discrepancy (EKD) and expected-kernel-loss (EKL), by leveraging the particular structure of multiple kernel learning (MKL). Also, it is identified that the proposed EKD and EKL successfully generalize the concepts of popular query-by-committee (QBC) and expected-model-change (EMC), respectively. Via experimental results with real-data sets, we verify the effectiveness of the proposed criteria compared with the existing methods.
An explainable deep vision system for animal classification and detection in trail-camera images with automatic post-deployment retraining
Venue: arXiv cs.CV 2020
Year: 2020

This paper introduces an automated vision system for animal detection in trail-camera images taken from a field under the administration of the Texas Parks and Wildlife Department. As traditional wildlife counting techniques are intrusive and labor intensive to conduct, trail-camera imaging is a comparatively non-intrusive method for capturing wildlife activity. However, given the large volume of images produced from trail-cameras, manual analysis of the images remains time-consuming and inefficient. We implemented a two-stage deep convolutional neural network pipeline to find animal-containing images in the first stage and then process these images to detect birds in the second stage. The animal classification system classifies animal images with overall 93% sensitivity and 96% specificity. The bird detection system achieves better than 93% sensitivity, 92% specificity, and 68% average Intersection-over-Union rate. The entire pipeline processes an image in less than 0.5 seconds as opposed to an average 30 seconds for a human labeler. We also addressed post-deployment issues related to data drift for the animal classification system as image features vary with seasonal changes. This system utilizes an automatic retraining algorithm to detect data drift and update the system. We introduce a novel technique for detecting drifted images and triggering the retraining procedure. Two statistical experiments are also presented to explain the prediction behavior of the animal classification system. These experiments investigate the cues that steers the system towards a particular decision. Statistical hypothesis testing demonstrates that the presence of an animal in the input image significantly contributes to the system's decisions.
Modeling and Validation of Soft Robotic Snake Locomotion
Venue: arXiv cs.RO 2020
Year: 2020

Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts' unique characteristics. Prior SRSs are limited to planar operation with a limited number of planar gaits. We propose a novel SRS with spatial bending and investigate snake locomotion gaits beyond the capabilities of the state-of-the-art systems. We derive a complete floating-base kinematic model of the robot and use the model to derive jointspace trajectories for serpentine and inward/outward rolling locomotion gaits. The locomotion gaits for the proposed SRS are experimentally validated under varying frequency and amplitude of gait cycles. The results qualitatively and quantitatively validate the SRS ability to leverage spatial bending to achieve locomotion gaits not possible with current SRS.
Convolutional Autoencoders for Human Motion Infilling
Venue: arXiv cs.CV 2020
Year: 2020

In this paper we propose a convolutional autoencoder to address the problem of motion infilling for 3D human motion data. Given a start and end sequence, motion infilling aims to complete the missing gap in between, such that the filled in poses plausibly forecast the start sequence and naturally transition into the end sequence. To this end, we propose a single, end-to-end trainable convolutional autoencoder. We show that a single model can be used to create natural transitions between different types of activities. Furthermore, our method is not only able to fill in entire missing frames, but it can also be used to complete gaps where partial poses are available (e.g. from end effectors), or to clean up other forms of noise (e.g. Gaussian). Also, the model can fill in an arbitrary number of gaps that potentially vary in length. In addition, no further post-processing on the model's outputs is necessary such as smoothing or closing discontinuities at the end of the gap. At the heart of our approach lies the idea to cast motion infilling as an inpainting problem and to train a convolutional de-noising autoencoder on image-like representations of motion sequences. At training time, blocks of columns are removed from such images and we ask the model to fill in the gaps. We demonstrate the versatility of the approach via a number of complex motion sequences and report on thorough evaluations performed to better understand the capabilities and limitations of the proposed approach.
FUEL: Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning
Venue: arXiv cs.RO 2020
Year: 2020

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative motion plans and low decision frequencies. In this paper, we propose FUEL, a hierarchical framework that can support Fast UAV Exploration in complex unknown environments. We maintain crucial information in the entire space required by exploration planning by a frontier information structure (FIS), which can be updated incrementally when the space is explored. Supported by the FIS, a hierarchical planner plans exploration motions in three steps, which find efficient global coverage paths, refine a local set of viewpoints and generate minimum-time trajectories in sequence. We present extensive benchmark and real-world tests, in which our method completes the exploration tasks with unprecedented efficiency (3-8 times faster) compared to state-of-the-art approaches. Our method will be made open source to benefit the community.
Quantitative analysis of robot gesticulation behavior
Venue: arXiv cs.RO 2020
Year: 2020

Social robot capabilities, such as talking gestures, are best produced using data driven approaches to avoid being repetitive and to show trustworthiness. However, there is a lack of robust quantitative methods that allow to compare such methods beyond visual evaluation. In this paper a quantitative analysis is performed that compares two Generative Adversarial Networks based gesture generation approaches. The aim is to measure characteristics such as fidelity to the original training data, but at the same time keep track of the degree of originality of the produced gestures. Principal Coordinate Analysis and procrustes statistics are performed and a new Fréchet Gesture Distance is proposed by adapting the Fréchet Inception Distance to gestures. These three techniques are taken together to asses the fidelity/originality of the generated gestures.
Performance Analysis and Optimization for the MAC Protocol in UAV-based IoT Network
Venue: arXiv cs.IT 2020
Year: 2020

Unmanned aerial vehicles (UAVs) have played an important role in air-ground integration network. Especially in Internet of Things (IoT) services, UAV equipped with communication equipments is widely adopted as a mobile base station (BS) for data collection from IoT devices on the ground. In this paper, we consider an air-ground network in which the UAV flies straightly to collect information from the IoT devices in a 2-D plane based on the CSMA/CA protocol. Due to UAV's continuous mobility, the communication durations of devices in different locations with UAV are not only time-limited, but also vary from each other. To analyze the throughput performance of uplink multiple access control (MAC) protocol, we propose a new analysis model to deal with the communications heterogeneity in the network. Firstly, we divide the devices in the coverage into different clusters according to their communication durations. Then, a quitting probability indicating the probability that a device quits the UAV's coverage at each time slot is clarified. A modified three-dimensional Markov chain model adopting the quitting probability and cluster division is developed for the performance analysis. Besides, we also propose a modified CSMA/CA protocol which fully considers the heterogeneity of the access time and adaptively allocates the time resource among the devices in different clusters. Finally, the effects of retry limit, initial contention window size, the density of the devices, UAVs speed and coverage area are discussed in the simulation section.